CN110896620A - Multi-rotor aircraft with variable wheelbase - Google Patents
Multi-rotor aircraft with variable wheelbase Download PDFInfo
- Publication number
- CN110896620A CN110896620A CN201880004518.9A CN201880004518A CN110896620A CN 110896620 A CN110896620 A CN 110896620A CN 201880004518 A CN201880004518 A CN 201880004518A CN 110896620 A CN110896620 A CN 110896620A
- Authority
- CN
- China
- Prior art keywords
- horn
- aircraft
- wheelbase
- rotor aircraft
- relatively
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 abstract description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/0005—Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/293—Foldable or collapsible rotors or rotor supports
Abstract
A multi-rotor aircraft with a variable axle distance comprises an aircraft body (2), a plurality of aircraft arms (1) with adjustable lengths, and a plurality of adjusting and detecting components, wherein the plurality of aircraft arms (1) are arranged on the aircraft body (2). Wherein the adjustment detection assembly is used for detecting or indicating the adjustment conditions of the plurality of arms (1). The length of the horn (1) is adjustable, so that the wheelbase of the multi-rotor aircraft can be adjusted, the size of the adaptive wheelbase can be adjusted according to the requirements of application scenes, the universality is strong, the carrying is convenient, and the cost is reduced; in addition, adjust the detection assembly and be used for detecting or instructing the regulation condition of horn (1), avoid the wheel base adjustment to misalign, safe and reliable.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-rotor aircraft with a variable axle distance.
Background
At present, multi-rotor unmanned aerial vehicles are widely applied to the fields of toys, aerial photography, agriculture, electric power inspection and the like, and the wheelbases of the multi-rotor unmanned aerial vehicles are different according to different application scene requirements. Generally speaking, a multi-rotor unmanned aerial vehicle with a small wheelbase can be matched with small blades, so that the attitude control is more flexible; and many rotor unmanned aerial vehicle of big wheel base can cooperate big paddle, and the load-carrying capacity is bigger. Different application scenes need the many rotor unmanned aerial vehicle of different wheel bases, lead to the product kind too many, carry inconvenient, the commonality is not strong, and the cost is also than higher.
Disclosure of Invention
The embodiment of the invention provides a multi-rotor aircraft with a variable axle distance, which is stronger in universality.
According to a first aspect of the embodiments of the present invention, a variable-pitch multi-rotor aircraft includes a fuselage, a plurality of arms adjustably disposed on the fuselage in length, and a plurality of adjustment detection assemblies; wherein the adjustment detection component is used for detecting or indicating the adjustment conditions of the plurality of arms.
According to a first aspect of embodiments of the present invention, the horn includes a relatively movable portion and a relatively fixed portion, the relatively fixed portion being relatively fixed to the body, the relatively movable portion and the relatively fixed portion being relatively movable therebetween to adjust the length of the horn.
According to the first aspect of the embodiment of the present invention, the relatively fixed portion is at least partially sleeved outside the relatively movable portion.
According to the first aspect of the embodiment of the invention, the device further comprises a plurality of locking structures; the locking structure is used for locking the horn at the adjusted length.
According to a first aspect of embodiments of the present invention, the adjustment detection assembly is disposed on the horn and includes a moving portion and a fixed portion; the movable part and the fixed part can move relatively along with the length adjustment of the horn, so that the adjusting condition of the horn can be determined according to the relative positions of the movable part and the fixed part.
According to the first aspect of the embodiments of the present invention, the moving portion and the fixed portion are electrical components, and the moving portion and the fixed portion are in electrical contact when relatively moving.
According to the first aspect of the embodiments of the present invention, the fixed part is a resistor, and the moving part is an electrical slider slidable on the resistor; or, the fixed part is an electrical block, and the moving part is a resistor which can move relative to the electrical block.
According to the first aspect of the embodiment of the present invention, the apparatus further includes a control unit electrically connected to the moving portion and the fixed portion to form a detection loop; the control unit is used for detecting the electric signals on the detection loop so as to generate an indication signal according to the wheel base gear position where the moving part and the fixed part of the adjusting and detecting assembly on each machine arm are opposite.
According to the first aspect of the embodiment of the present invention, the control unit is configured to determine that the wheelbase gear of the multi-rotor aircraft is correctly set when the indication signal indicates that the wheelbase gears of the adjustment detection assemblies on the arms are in the same gear.
According to the first aspect of the embodiment of the invention, the control unit is further configured to invoke a preset control parameter and send the preset control parameter to the execution unit when it is determined that the wheelbase gear setting of the multi-rotor aircraft is correct.
According to the first aspect of the embodiment of the present invention, the mobile terminal further includes a general mounting interface, which is disposed on the body and can mount different mounting modules.
According to a first aspect of embodiments of the present invention, the universal mount interface includes a mount fixing portion and an electrical connection portion; the mounting fixing part is detachably connected with the mounting module; the electrical connection part is electrically connected with the mounting module connected to the mounting fixing part.
After the technical scheme is adopted, compared with the prior art, the embodiment of the invention has the following beneficial effects:
the length of the horn is adjustable, so that the wheelbase of the multi-rotor aircraft can be adjusted, the size of the adaptive wheelbase can be adjusted according to the requirements of application scenes, and the multi-rotor aircraft is strong in universality and convenient to carry; the adjusting and detecting assembly is used for detecting or indicating the adjusting condition of the machine arm, the adjusted wheelbase condition can be obtained, the wheelbase adjustment is prevented from being misaligned, and the safety and the reliability are realized;
the aircraft body is provided with a universal mounting interface capable of mounting different mounting modules, and the mounting modules which are adaptive to each other can be mounted under different wheelbases, so that the aircraft can be applied to required scenes; by using the uniform universal mounting interface, different mounting modules can be developed according to different applications so as to expand more application scenes, so that the modular design and assembly of the aircraft can be realized, and the cost is reduced.
Drawings
FIG. 1 is a schematic view of a portion of a variable wheelbase multi-rotor aircraft in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a variable wheelbase multi-rotor aircraft according to an embodiment of the present invention;
fig. 3 is a schematic view of the variable wheelbase multi-rotor aircraft according to an embodiment of the present invention, showing its small wheelbase configuration.
The notation in the figure is:
1-arm, 11-relative movable part, 12-relative fixed part, 2-body, 31-fixed part, 32-movable part, 4-control unit, 51-elastic part, 52-recess, 6-locking structure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with embodiments of the invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of embodiments of the invention, as detailed in the following claims.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that the terms "first," "second," and the like as used in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Referring to fig. 1-3, the multi-rotor aircraft with variable wheel base according to the embodiment of the present invention may include a fuselage 2, a plurality of arms 1, and a plurality of adjustment detection assemblies, and the multi-rotor aircraft may be a four-axis aircraft, a six-axis aircraft, etc., but is not limited thereto.
Each horn length is adjustably arranged on the fuselage, so that the wheel base of the rotor craft can be adjusted, the length adjustment mode of the horn is not limited, and the horn can be telescopic, folded and unfolded (the horn is partially folded and unfolded to adjust the length), and the like. The adjusting detection assembly is arranged on each length adjusting part, each length adjusting part can be provided with the adjusting detection assembly, and the number of the adjusting detection assemblies can be one or more. The length adjusting part can be completely positioned on the horn, or can be partially positioned on the horn and the other part is positioned on the machine body, or can be positioned on other parts according to different structures, so that the arrangement position of the adjusting and detecting component is not limited.
The adjusting detection assembly is used for detecting or indicating the adjusting condition of the horn, so that the length of the horn after the horn is adjusted can be obtained, and the adjustment of the wheel base can be controlled. The length of the horn according to the embodiment of the present invention is a length from a portion of the horn protruding from the body to a distal end of the horn.
The detection of the adjusting detection component can be directly obtained by measuring the length of the machine arm or indirectly obtained by other detection modes; the indication of the adjustment of the detecting member may be performed by providing a marking member or a marking pattern, for example, a ruler-type structure or a ruler-type pattern on one portion of the horn and a marking point on the other portion, so that the marking point may move on the ruler-type structure or the ruler-type pattern when the length of the two portions of the horn is adjusted, thereby indicating the length of the horn according to the position of the marking point on the ruler-type structure or the ruler-type pattern.
The length of the horn is adjustable, so that the wheelbase of the multi-rotor aircraft can be adjusted, the size of the adaptive wheelbase can be adjusted according to the requirements of application scenes, different wheelbases are integrated, the universality is enhanced, the carrying is convenient, and the problem of overhigh cost caused by excessive product types is solved; and an adjustment detection assembly is arranged to detect or indicate the adjustment condition of the horn, so that the adjusted wheelbase condition can be obtained, the wheelbase adjustment is avoided being out of alignment, and the flight control module can further perform corresponding flight control adjustment.
In one embodiment, referring to fig. 1, the horn 1 may include a relatively movable portion 11 and a relatively fixed portion 12. The relatively fixed part 12 is fixed to the body 2, and the relatively movable part 1l and the relatively fixed part 12 are relatively movable to adjust the length of the horn 1.
The relatively movable part 11 can be telescopically arranged on the relatively fixed part 12, so that the relatively movable part 11 can be partially or completely positioned on the inner side or the outer side of the relatively fixed part 12, and the two parts are overlapped inside and outside, so that the part is of an inner-layer structure and an outer-layer structure, and can play a role in reinforcing the machine arm. The movement between the relatively movable portion 11 and the relatively fixed portion 12 may be sliding, rotating, or the like, and the adjustment detecting means may be provided at the connecting portion of the relatively movable portion 11 and the relatively fixed portion 12.
In this embodiment, the relatively fixed portion is at least partially sleeved outside the relatively movable portion, and the relatively movable portion and the relatively fixed portion are always sleeved with each other under the condition of changing the wheel base, so that the structural strength of the length adjusting portion is higher, and the problem of breakage of the boom is not easy to occur. It is understood that the relatively movable portion may be at least partially sleeved outside the relatively fixed portion, and is not limited herein.
The relatively movable portion 11 may be only one, or may be more, in other words, the relatively movable portion 11 and the relatively fixed portion 12 are two or more segments divided in the longitudinal direction of the arm. In the case where there is more than one relatively movable portion, several relatively movable portions may be connected in sequence, an adjustment detecting unit may be provided at each of the connected portions, and the length of the horn may be determined based on information detected or indicated by the adjustment detecting unit at each portion.
It is understood that the manner shown in fig. 1 is only one of the embodiments, and is not limited thereto. In an alternative embodiment, the horn 1 may be integrally movable relative to the body 2 to adjust the length of the horn 1 extending from the body 2, that is, the horn 1 may partially extend into or extend from the body 2, and the length of the horn 1 may also be adjustable, and, of course, a corresponding telescopic space of the horn 1 may be reserved on the body 2. In this case, the adjustment detecting member may be partially disposed on the horn 1 and partially disposed on the body 2, and relatively moved by the relative movement between the horn 1 and the body 2, thereby detecting the moving distance.
In one embodiment, with continued reference to fig. 1, the variable wheelbase multi-rotor aircraft may further include a number of locking structures 6. The locking structure 6 is used to lock the horn 1 at the adjusted length. The locking structure 6 can lock the relative fixed part 12 and the relative movable part 11 after the length adjustment, and the length of the machine arm 1 is ensured to be unchanged in a locking state. The locking structure 6 may be a knob screw, and corresponding holes are provided in the relatively fixed part 12 and the relatively movable part 11, and the knob screw is screwed in and locked.
In addition to the arrangement of the arm 1 as the relatively movable portion 11 and the relatively identical portion 12, the relative positional relationship between the relatively movable portion 11 and the relatively fixed portion 12 is locked by the locking structure 6, and the arm can be locked at the adjusted wheel base.
In one embodiment, with continued reference to fig. 1, the adjustment detection assembly may be disposed on the horn 1 and may include a moving portion 32 and a fixed portion 31. The moving part 32 and the fixed part 31 can move relatively along with the length adjustment of the horn 1, so as to determine the adjustment condition of the horn 1 according to the relative positions of the moving part 32 and the fixed part 31.
Since the movable portion 32 and the fixed portion 31 move in accordance with the length adjustment of the horn 1, when the horn adjustment method of fig. 1 is combined, the relative position change between the relatively movable portion 11 and the relatively fixed portion 12 can be indirectly determined by the relative position change between the movable portion 32 and the fixed portion 31, thereby determining the adjusted length of the horn 1.
As shown in fig. 1, the moving portion 32 is connected to the relatively movable portion 11, and the fixed portion 31 is connected to the relatively fixed portion 12, and the connection may be direct connection or indirect connection, and when the relatively movable portion 11 moves on the relatively fixed portion 12, the moving portion 32 is moved, and the moving portion 32 and the fixed portion 31 are relatively displaced.
In this embodiment, the moving portion 32 and the fixing portion 31 are electrical components, and the moving portion 32 and the fixing portion 31 are in electrical contact when moving relatively. The electrical component is not particularly limited as long as the generated electrical signal can be changed when the contact positions of the moving part 32 and the fixed part 31 are different, so that the relative positional relationship between the moving part 32 and the fixed part 31, that is, the relative positional relationship between the relatively movable part 11 and the relatively fixed part 12 can be determined according to the generated electrical signal. The electrical signal may be detected by an additional detection component. The distance of relative movement between the moving part 32 and the fixed part 31 is the length of the arm 1 changed by the adjustment length.
Of course, the moving portion 32 and the fixing portion 31 may also be not electrical components, but only marks or marks patterns, which have been described in the foregoing embodiments and are not described herein again.
In this embodiment, the fixed portion 31 is a resistor, and the moving portion 32 is an electrical slider that can slide on the resistor. The electrical slider is fixed on the relatively movable portion 11, the resistor is fixed on the relatively fixed portion 12, and when the relatively movable portion 11 moves, the electrical slider correspondingly slides on the resistor, so as to change the position of the electrical slider on the resistor, that is, change the resistance value formed by the connection between the electrical slider and the resistor. The electrical slider and the resistor may be considered to constitute a slide rheostat, and the detecting member for detecting an electrical signal may have one end connected to the electrical slider (as one connecting point of the slide rheostat) and the other end connected to one end of the resistor (as the other connecting point of the slide rheostat). The electric signal detected by the detection component of the slide rheostat can be a voltage value or a current value, so that a corresponding resistance value can be determined according to the relation between the voltage value or the current value and the resistance value, and the length regulated by the horn can be determined after the resistance value is determined.
The resistance value is changed through the relative sliding between the electrical sliding block and the resistor, so that the distance of the relative sliding can be obtained through measuring the change of the resistance value, the adjusting length of the horn is correspondingly obtained, the axle distance change condition of the aircraft can be determined, the measuring mode is simple, and the cost is low.
Alternatively, the fixed portion may be an electrical block, and the movable portion may be a resistor movable relative to the electrical block. The resistor moves along with the relatively movable part, so that the relative movement between the resistor and the electric block can be realized, the position of the electric block on the resistor is adjusted, and the resistance value formed by the connection of the electric block and the resistor is correspondingly adjusted.
In this embodiment, the resistor may be provided with a plurality of gears, so that the electrical sliding block or the electrical block may be located in different gears. The gear settings of the resistors on the four booms 1 can be identical, so that when the length of each boom 1 is adjusted, the same wheel base gear can be adjusted, and quick wheel base adjustment is realized.
In this embodiment, the resistor may include a plurality of resistors connected in series, and different positions are formed between the resistors and at the end of the resistor. Of course, this is only an alternative embodiment, and there may be resistors connected in parallel or in series. Through the stepping of the resistance values of the resistors, the corresponding resistance values can be quickly known when the resistors are adjusted to various gears.
In this embodiment, the length adjustment position of each horn 1 can be provided with gear positioning structure to make electrical property sliding block or electrical property piece can be fixed a position in different gears. Through setting up gear location structure, can make the horn adjust to required gear fast in, also can improve the precision of length adjustment moreover.
In this embodiment, the gear positioning structure may include an elastic member 51 or a plurality of recesses 52 corresponding to the gears, which are fixedly disposed relative to the fixing portion 12, and a plurality of recesses 52 or elastic members 51 corresponding to the gears, which are fixedly disposed relative to the moving portion 11; the elastic element 51 can be locked by entering the recess 52 when the position of the recess 52 is reached, and can be moved out of the recess 52 by an external force. In fig. 1, the elastic member 51 is provided on the relatively movable portion 11, and the concave portions 52 are provided on the relatively fixed portion 12, and the concave portions 52 are arranged at intervals in the relative movement direction to form a plurality of different shift positions. The elastic member 51 may be a spring plate, a spring block, a spring, etc.
It is understood that the fixed portion 31 and the moving portion 32 may be implemented without using a resistor structure, and may be other electrical components, such as a capacitive positioner, a hall sensor, and the like, as long as the change in position between the two can be measured.
In one embodiment, the variable wheelbase multi-rotor aircraft may further comprise a control unit 4. The control unit 4 is electrically connected to the moving part 32 and the fixed part 31 to form a detection circuit. The control unit 4 is used for detecting the electric signal on the detection circuit to generate the indication signal according to the wheel base gear position where the moving part 32 and the fixed part 31 of the adjustment detection component on each machine arm 1 are opposite. The indication signal may indicate the wheel base gear information currently being located.
The control unit 4 may detect, for example, a voltage and a current between the connected moving part 32 and the fixed part 31 to calculate a resistance, so as to determine a relative positional relationship between the moving part 32 and the fixed part 31, and realize automatic detection of the currently located wheel base gear by the control unit 4.
In the present embodiment, the control unit 4 generates the instruction signal when the relative positional relationship between the moving portion 32 and the fixed portion 31 of each arm 1 is the same wheel base gear position. When each of the booms 1 is adjusted to the same wheel base gear, an indication signal is generated, which can indicate that each of the booms 1 is adjusted to the required wheel base gear.
The wheel base gears mean that the adjustable wheel base of the aircraft has a plurality of gears. The fact that each horn 1 is adjusted to the required wheel base gear means that the length of the horn corresponding to the corresponding wheel base gear is adjusted by the horn 1. When the large wheelbase needs to be adjusted to the small wheelbase, all the booms 1 are adjusted to the wheelbase gear corresponding to the small wheelbase from the wheelbase gear corresponding to the large wheelbase, and the lengths of all the booms 1 under the corresponding wheelbase are guaranteed to be consistent. Similarly, when the small wheel base needs to be adjusted to the large wheel base, all the machine arms 1 are adjusted from the wheel base gear corresponding to the small wheel base to the wheel base gear corresponding to the large wheel base, and the lengths of all the machine arms 1 under the corresponding wheel bases are also ensured to be consistent.
The variable-wheelbase multi-rotor aircraft of fig. 2 is a quadcopter adjusted at a large wheelbase, and the variable-wheelbase multi-rotor aircraft of fig. 3 is a quadcopter adjusted at a small wheelbase, it being understood that the wheelbase sizes are relative only. Further, the adjustable wheel base may be more than two, for example, the adjustable wheel base may be three, four or more, and is not limited herein.
Furthermore, the control unit 4 is further configured to determine that the setting of the wheelbase gear of the multi-rotor aircraft is correct when the wheelbase gears of the adjustment detection assemblies on the arms are in the same gear according to the indication signal. Can be provided with the comparison module in the control unit, through adjusting each detection value and gear setting value of detecting component and comparing, when the comparison result is all correct, show promptly that many rotor crafts's wheel base gear sets up correctly, can generate the execution instruction. When the gear of each wheel base is not adjusted to the same gear, the control unit 4 does not generate an execution instruction, so that misoperation when each horn is not adjusted to a proper position is avoided, and damage to the multi-rotor aircraft caused by misoperation is prevented. The control unit 4 may be formed by connecting a separate detection component for detecting the electrical signal for adjusting the detection assembly and a comparison module for comparing the detection value with a gear setting value.
It is understood that the wheel base gear can also be adjusted steplessly, that is, when adjusting, each of the arms can be adjusted to any position. At this time, the control unit 4 still needs to generate the execution command when each arm is adjusted to the same gear, i.e. the same length position.
Furthermore, the multi-rotor aircraft with the variable wheel base can further comprise an execution unit, the control unit 4 is used for calling preset control parameters and sending the preset control parameters to the execution unit when the wheel base gears of the multi-rotor aircraft are determined to be correctly set, namely under an execution instruction, and the called control parameters can be matched with the aircraft under the corresponding wheel base. The execution unit can make certain adjustment according to the control parameter, so that the flight of the aircraft can adapt to the new wheel base condition.
The control unit 4 can automatically detect the current wheel base gear, automatically call preset control parameters when the wheel base gears of the arms are adjusted in place consistently, the preset control parameters can be flight control parameters matched with the corresponding wheel bases, and the actions of the execution unit can be controlled after the flight control parameters are sent to the execution unit, so that the automatic adjustment of the flight control is realized.
In one embodiment, the variable wheelbase multi-rotor aircraft may further include a universal mount interface. The universal mounting interface is arranged on the machine body 2 and can mount different mounting modules.
For example, in one embodiment, a uniform universal mount interface is provided on the body 2 to accommodate different mount modules. Then, when the camera is configured to be a small wheelbase, a small blade and a small battery module can be installed, and then a light-weight camera module is mounted to perform common aerial photography and penetrating machine flying activities; when the large-wheel-base camera is configured to be a large wheel base, a large blade and a large battery module can be installed, and then a large camera is mounted to carry out professional photography or movie shooting; of course, is not particularly limited thereto.
The fuselage 2 is provided with a universal mounting interface capable of mounting different mounting modules, and the mounting modules matched with each other can be mounted under different wheelbases, so that the aircraft can be applied to required scenes; by using the uniform universal mounting interface, different mounting modules can be developed according to different applications so as to expand more application scenes, so that the modular design and assembly of the aircraft can be realized, and the cost is reduced.
In this embodiment, the mounting interface may include a mounting fixing portion and an electrical connection portion. The mounting fixing part is detachably connected with the mounting module, the detachable connection structure is not limited, for example, the detachable connection structure can be a screw joint, and the shape of the mounting part can be fixed or adjustable. The electrical connection part is electrically connected with the mounting module connected on the mounting fixing part, and the electrical connection part can be a uniform electrical interface.
Although the embodiments of the present invention have been disclosed with reference to the above-mentioned embodiments, the present invention is not limited to the above-mentioned embodiments, and those skilled in the art can make various changes and modifications which are equivalent to those of the above-mentioned embodiments without departing from the scope of the embodiments of the present invention.
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
Claims (12)
1. The multi-rotor aircraft with the variable wheelbase is characterized by comprising an aircraft body, a plurality of aircraft arms and a plurality of adjusting and detecting components, wherein the length of the aircraft arms is adjustably arranged on the aircraft body; wherein the adjustment detection component is used for detecting or indicating the adjustment conditions of the plurality of arms.
2. The variable wheelbase multi-rotor aircraft of claim 1, wherein the horn includes a relatively movable portion and a relatively fixed portion, the relatively fixed portion being relatively fixed to the fuselage, the relatively movable portion and the relatively fixed portion being relatively movable therebetween to adjust the length of the horn.
3. The variable wheelbase multi-rotor aerial vehicle of claim 2, wherein the relatively fixed portion is at least partially nested outside the relatively movable portion.
4. The variable wheelbase multi-rotor aircraft of claim 2, further comprising a plurality of locking structures; the locking structure is used for locking the horn at the adjusted length.
5. The variable wheelbase multi-rotor aircraft of claim 1, wherein the adjustment detection assembly is disposed on the horn and includes a moving portion and a fixed portion; the movable part and the fixed part can move relatively along with the length adjustment of the horn, so that the adjusting condition of the horn can be determined according to the relative positions of the movable part and the fixed part.
6. The variable wheelbase multi-rotor aircraft of claim 5, wherein the moving portion and the stationary portion are electrical components and the moving portion and the stationary portion are in electrical contact during relative movement.
7. The variable wheelbase multi-rotor aircraft of claim 6, wherein the fixed portion is a resistor and the moving portion is an electrical slider that slides over the resistor; or, the fixed part is an electrical block, and the moving part is a resistor which can move relative to the electrical block.
8. The variable wheelbase multi-rotor aircraft according to claim 6 or 7, further comprising a control unit electrically connected to the moving and fixed portions to form a detection circuit; the control unit is used for detecting the electric signals on the detection loop so as to generate an indication signal according to the wheel base gear position where the moving part and the fixed part of the adjusting and detecting assembly on each machine arm are opposite.
9. The variable wheelbase multi-rotor aircraft of claim 8, wherein the control unit is configured to determine that the wheelbase range is properly set when the indication signal indicates that the wheelbase ranges of the adjustment detection assemblies on the arms are in the same range.
10. The variable wheelbase multi-rotor aircraft of claim 9, further comprising an execution unit, wherein the control unit is configured to invoke predetermined control parameters and send the control parameters to the execution unit when it is determined that the wheelbase gear setting of the multi-rotor aircraft is correct.
11. The variable wheelbase multi-rotor aircraft of claim 1, further comprising a common mounting interface on the fuselage for mounting different mounting modules.
12. The variable wheelbase multi-rotor aerial vehicle of claim 11, wherein the common mounting interface includes a mounting fixture and an electrical connection; the mounting fixing part is detachably connected with the mounting module; the electrical connection part is electrically connected with the mounting module connected to the mounting fixing part.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820629721.2U CN208325617U (en) | 2018-04-28 | 2018-04-28 | The variable multi-rotor aerocraft of wheelbase |
| CN2018206297212 | 2018-04-28 | ||
| PCT/CN2018/106220 WO2019205461A1 (en) | 2018-04-28 | 2018-09-18 | Multi-rotor aircraft having variable wheelbase |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110896620A true CN110896620A (en) | 2020-03-20 |
Family
ID=64779307
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820629721.2U Expired - Fee Related CN208325617U (en) | 2018-04-28 | 2018-04-28 | The variable multi-rotor aerocraft of wheelbase |
| CN201880004518.9A Pending CN110896620A (en) | 2018-04-28 | 2018-09-18 | Multi-rotor aircraft with variable wheelbase |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820629721.2U Expired - Fee Related CN208325617U (en) | 2018-04-28 | 2018-04-28 | The variable multi-rotor aerocraft of wheelbase |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN208325617U (en) |
| WO (1) | WO2019205461A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208325617U (en) * | 2018-04-28 | 2019-01-04 | 上海飞来信息科技有限公司 | The variable multi-rotor aerocraft of wheelbase |
| CN110901883B (en) * | 2019-12-02 | 2022-12-23 | 中电科特种飞机系统工程有限公司 | Mooring unmanned aerial vehicle and airborne end thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140291440A1 (en) * | 2011-11-11 | 2014-10-02 | Pal-V Europe, N.V. | Vehicle |
| CN104787327A (en) * | 2015-05-12 | 2015-07-22 | 无锡职业技术学院 | Axle distance-variable multi-rotor aircraft |
| CN105270613A (en) * | 2015-10-27 | 2016-01-27 | 镇江顺宇飞行器有限公司 | Foldable telescopic six-shaft aircraft |
| US20160340028A1 (en) * | 2014-01-20 | 2016-11-24 | Robodub Inc. | Multicopters with variable flight characteristics |
| CN106394887A (en) * | 2016-10-24 | 2017-02-15 | 杭州鼎曜信息技术有限公司 | Multi-rotor-wing unmanned aerial vehicle and control method thereof |
| CN206394868U (en) * | 2017-01-12 | 2017-08-11 | 福建农林大学 | The scalable horn of unmanned plane |
| CN206885341U (en) * | 2017-05-09 | 2018-01-16 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane horn and unmanned plane |
| CN107814311A (en) * | 2017-11-29 | 2018-03-20 | 安徽柳工起重机有限公司 | Level detecting apparatus in telescopic crane boom cylinder pin |
| CN208325617U (en) * | 2018-04-28 | 2019-01-04 | 上海飞来信息科技有限公司 | The variable multi-rotor aerocraft of wheelbase |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9915955B2 (en) * | 2016-06-23 | 2018-03-13 | Teal Drones, Inc. | Extensible quadrotor body |
| CN106314783B (en) * | 2016-10-24 | 2018-09-14 | 杭州鼎曜信息技术有限公司 | Anti- hurt sb.'s feelings multi-rotor unmanned aerial vehicle and its control method |
| CN207191410U (en) * | 2017-07-11 | 2018-04-06 | 新昌县南明街道晨升信息咨询服务部 | A kind of multi-rotor unmanned aerial vehicle |
| CN207010767U (en) * | 2017-08-10 | 2018-02-13 | 薛春贵 | A kind of mobile phone aerial device |
| CN107878745A (en) * | 2017-12-18 | 2018-04-06 | 南京灿华光电设备有限公司 | It is a kind of to be easy to folded unmanned plane |
-
2018
- 2018-04-28 CN CN201820629721.2U patent/CN208325617U/en not_active Expired - Fee Related
- 2018-09-18 WO PCT/CN2018/106220 patent/WO2019205461A1/en active Application Filing
- 2018-09-18 CN CN201880004518.9A patent/CN110896620A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140291440A1 (en) * | 2011-11-11 | 2014-10-02 | Pal-V Europe, N.V. | Vehicle |
| US20160340028A1 (en) * | 2014-01-20 | 2016-11-24 | Robodub Inc. | Multicopters with variable flight characteristics |
| CN104787327A (en) * | 2015-05-12 | 2015-07-22 | 无锡职业技术学院 | Axle distance-variable multi-rotor aircraft |
| CN105270613A (en) * | 2015-10-27 | 2016-01-27 | 镇江顺宇飞行器有限公司 | Foldable telescopic six-shaft aircraft |
| CN106394887A (en) * | 2016-10-24 | 2017-02-15 | 杭州鼎曜信息技术有限公司 | Multi-rotor-wing unmanned aerial vehicle and control method thereof |
| CN206394868U (en) * | 2017-01-12 | 2017-08-11 | 福建农林大学 | The scalable horn of unmanned plane |
| CN206885341U (en) * | 2017-05-09 | 2018-01-16 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane horn and unmanned plane |
| CN107814311A (en) * | 2017-11-29 | 2018-03-20 | 安徽柳工起重机有限公司 | Level detecting apparatus in telescopic crane boom cylinder pin |
| CN208325617U (en) * | 2018-04-28 | 2019-01-04 | 上海飞来信息科技有限公司 | The variable multi-rotor aerocraft of wheelbase |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019205461A1 (en) | 2019-10-31 |
| CN208325617U (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3760021B1 (en) | Riding lawn mower | |
| CN110896620A (en) | Multi-rotor aircraft with variable wheelbase | |
| US9947309B2 (en) | Sonar transducer support assembly systems and methods | |
| EP3236312A1 (en) | Triaxial stabilizer for mobile phone | |
| US20190092447A1 (en) | Multirotor aircraft | |
| US20070152695A1 (en) | Test equipment positional control manipulator | |
| WO2015127741A1 (en) | Motor, cradle head using motor, and photographing apparatus using cradle head | |
| US20230249813A1 (en) | Ganged servo flight control system for an unmanned aerial vehicle | |
| US11249491B2 (en) | Servo, control method, and unmanned aerial vehicle | |
| US10554003B2 (en) | Rotary connector | |
| US20200055599A1 (en) | Unmanned aerial vehicle, unmanned aerial vehicle system, and battery system | |
| CN112437741A (en) | Universal joint device and flight equipment | |
| CN110972471A (en) | Arm subassembly reaches unmanned aerial vehicle including this arm subassembly | |
| CN112027064A (en) | Unmanned vehicles flight control system and steering wheel orientation module | |
| CN216401176U (en) | Bidirectional clamping and positioning charging device | |
| CN108572664B (en) | Tilting angle detection device, control system and method for tilting rotor wing of aircraft | |
| CN112093032B (en) | Unmanned vehicles flight control system and duct fan installation and telex interface module | |
| CN112093033B (en) | Unmanned vehicles flight control system | |
| CN215264008U (en) | Microwave radar and movable platform | |
| CN113934231B (en) | High-precision four-dimensional navigation device of star-based unmanned aerial vehicle | |
| CN220647612U (en) | Microcomputer protection monitoring device | |
| JP7366080B2 (en) | Rotary operation unit and radio control transmitter | |
| CN215956895U (en) | PCB (printed circuit board) mounting ring of airborne electronic equipment | |
| CN108664041B (en) | Aircraft tilting angle detection device, control system and method | |
| JP7209399B2 (en) | flight device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200320 |